Siemens SINAMICS S110 List Manual page 886

Enco- Sensor
Control unit
ders modules
Encoder type selection
0 = No encoder
p0400[E]
Enc_interface
Comp_No.
p0141[E]
Encoder
Comp_No.
p0142[E]
DRIVE CLiQ
SMx
<8>
SM characteristics
r0458
Encoder n
[4720.4]
<1> For rotary encoders = pulse number setting.
For resolvers = pole pair number setting.
<2> Assignment of the indices: Index [n-1] --> Encoder n
Index [0] --> Encoder 1
Index [1] --> Encoder 2
NOTE: SINAMICS S110 supports only one encoder. This encoder may be parameterized as encoder 1 or encoder 2.
1 2
DO: SERVO
Encoder evaluation - Position and speed sensing, encoders 1 ... 2
Enc Enc
configuration squarewave A/B
p0404[E] p0405[E]
<3>
<4> Enc fine
1
Gx_XIST1
1 2
p0418[E]
A
Incr
2
B
n
x2
Raw position signals
2
Multiplication
A
by hardware
sin/cos
1 signal period
B
Load gearbox, activate position tracking
1 signal period
Enc fine
Gx_XIST2
p0419[E]
p2721[D]
Cyclic absolute
p2504[D]/p2505[D]
position value
n
x2
(only for absolute value encoders,
e.g. EQN)
Bit 14-15
Enc Gn_STW
Encoder control word
r0487[n-1]
<2>
Measuring probe positions
[4740.7]
<3> For "EnDat encoders", these parameters are read out automatically.
<4> For SIMODRIVE-compatible functions: Set p0418 = 11.
<5> Generating the two's complement.
<6> Gn_XIST1 is a free-running position value. The external control must process the overflows.
3 4
<1>
Configuration, absolute value encoder
Encoder pulse number
(number of signals periods per Abs enc.
track and encoder revolution)
Multiturn
p0408[E] p0421[E]
<3> <3>
2
Invert position actual value
p0410.1[E]
n
A
u
0
p
III
dn
n
-1
1
32 bits
B
Free-running position
counter
p2720.0[D]
<9> For SSI encoders: Absolute position information
0
1
Reference mark position
[4735.7]
and
Absolute value
Error code
Encoder error
processing
Measuring probe position
Function selection
Enc Gn_ZSW
[4730.5] r0481[n-1]
5 6
fp_4704_98_eng.vsd
03.07.08 V04.04.00
PROFIdrive sampling time
Abs enc.
Refer to [1020.7]
Singleturn Enc rot clearance NM
p0423[E] p0425[E]
<3>
Raw position signals
(only from encoder 1)
Dir of rot
p1821[D]
No. of signal
periods
0
31 n n-1
0
-1
1
<5>
Fine resolution
32 (multiplication by
2 -1
hardware)
<10>
0
Dir of rot
p1821[D]
<9>
Sequence control
0
-1
1
&
To thermal motor monitoring
from sensor n
Dir of rot
p1821[D]
0
-1
1
Encoder status bits
to Gn_ZSW
Bit 0-13
F31100 ... A32999
encoder faults/alarms
r0979[0...25]
Encoder status word
Encoder format acc. to PROFIdrive
<7> The contents of r0483/r2723 are determined by the encoder
status word/control word. Refer to [4720] and [4730].
<8> Interface EnDat or SSI.
<9> Only of significance when the "Position control" function
module is activated (r0108.3 = 1) and with encoder 1.
<10> Updated in each DRIVE-CLiQ basic cycle.
7
Function diagram
SINAMICS S110
To speed
sensing
[4710.1]
<2>
<6>
Enc Gn_XIST1
r0483[n-1]
[4010.1]
[4710.1]
[4735.6]
[4740.6]
Diag Gn_XIST1
r0483[n-1]
[3090.1]
[4711.1]
<2> <7> <9>
Load grbx abs_val
r2723[n-1]
[4010.1]
[8016.1]
<2> <7>
Enc Gn_XIST2
r0483[n-1]
[4710.1]
[4730.1]
8
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